public void Accelerate(float power)
{
var sign = reverse ? 1 : -1;
if (FrontWheelKmPerH < maxSpeed)
{
frontWheel.AddTorque(power * FrontRearDriveRatio * sign);
}
if (RearWheelKmPerH < maxSpeed)
{
rearWheel.AddTorque(power * (1 - FrontRearDriveRatio) * sign);
}
}
private void doBrake(Wheel wheel, WheelJoint2D joint, float power)
{
var angularVelocity = wheel.AngularVelocity;
wheelVelocitySignHistory[wheel].Add(Mathf.Sign(angularVelocity));
if (power * fullStopThreshold > Mathf.Abs(angularVelocity))
{
wheel.AngularVelocity = 0;
joint.useMotor = true;
}
else
{
var sign0 = wheelVelocitySignHistory[wheel][0];
var sign1 = wheelVelocitySignHistory[wheel][1];
var sign2 = wheelVelocitySignHistory[wheel][2];
if (sign0 * sign1 == -1 && sign1 * sign2 == -1)
{
wheel.AngularVelocity = 0;
joint.useMotor = true;
}
else
{
var sign = Mathf.Sign(angularVelocity);
wheel.AddTorque(power * -sign);
joint.useMotor = false;
}
}
if (power == 0)
{
wheelVelocitySignHistory[wheel].Clear();
wheelVelocitySignHistory[wheel].Add(0);
wheelVelocitySignHistory[wheel].Add(0);
}
while (wheelVelocitySignHistory[wheel].Count > 3)
{
wheelVelocitySignHistory[wheel].RemoveAt(0);
}
}